CN110134066B - Method, device, system and storage medium for compensating rotation speed of lathe workpiece - Google Patents

Abstract

Embodiments of the present invention disclose a method, device, system and storage medium for compensating the rotational speed of a workpiece of a lathe. The method includes: reading the tool machining position and the actual rotation speed of the workpiece; determining a first drop compensation amount related to a preset rotation speed setting value of the workpiece based on the tool machining position; determining the workpiece corresponding to the workpiece based on the first drop compensation amount A second drop compensation amount for the actual rotational speed; feedforward compensation for the rotational speed of the workpiece based on the second drop compensation amount. The embodiments of the present invention compensate for the drop in the rotational speed of the workpiece in advance, thereby improving the machining accuracy.

Description

Compensation method, device, system and storage medium for rotation speed of workpiece of lathe

technical field

The invention relates to the technical field of lathe control, in particular to a method, device, system and storage medium for compensating the rotation speed of a lathe workpiece.

Background technique

Numerical control technology is also called computer numerical control (CNC, Computerized Numerical Control) technology, which is a technology that uses a computer to realize digital program control. In the numerical control technology, the pre-stored control program is used to implement the sequential logic control function of the movement trajectory of the equipment and the operation of the peripherals. Since the computer is used to replace the numerical control device originally composed of hardware logic circuits, the realization of various control functions such as storage, processing, operation, and logical judgment of input operation instructions can be completed by computer software, and the microscopic instructions generated by processing are transmitted to the servo drive. The device drives the motor or hydraulic actuator to drive the equipment to run.

The CNC machine tool automatically processes the workpiece according to the pre-programmed processing program. Write the machining process route, process parameters, tool motion trajectory, displacement, cutting parameters and auxiliary functions of the workpiece into a machining program list according to the instruction code and program format specified by the CNC machine tool, and then record the contents of the machining program list in the On the control medium, and then input into the numerical control device of the numerical control machine tool, so as to direct the numerical control machine tool to perform processing on the workpiece.

In the prior art, when a tool contacts a workpiece on a CNC lathe for threading and other processing, due to the action of cutting force, the speed of the spindle will drop, resulting in a drop in the rotational speed of the workpiece. However, the motion relationship between the tool and the workpiece is predetermined, and the drop in the rotation speed of the workpiece will affect the machining accuracy of the workpiece.

SUMMARY OF THE INVENTION

The embodiments of the present invention provide a method, device, system and storage medium for compensating the rotational speed of a workpiece of a lathe.

The technical scheme of the embodiment of the present invention is as follows:

The compensation method for the rotation speed of the lathe workpiece, including:

Read the machining position of the tool and the actual rotation speed of the workpiece;

determining a first drop compensation amount related to the preset value of the workpiece rotation speed based on the tool machining position;

determining a second drop compensation amount corresponding to the actual rotational speed of the workpiece based on the first drop compensation amount;

The rotational speed of the workpiece is feedforward compensated based on the second drop compensation amount.

It can be seen that, in the embodiment of the present invention, the drop of the rotation speed of the workpiece is compensated in advance based on the machining position of the tool, so that the machining accuracy can be improved.

In one embodiment, the method further includes: establishing a drop compensation scale, the drop compensation scale including a corresponding relationship between the tool machining position and the drop compensation amount when the workpiece predetermined rotation speed is set;

The determining of the first drop compensation amount related to the preset value of the workpiece rotation speed based on the machining position of the tool includes:

Determining the tool processing position as a retrieval item, and querying the drop compensation amount table by using the retrieval item to determine the drop compensation amount corresponding to the retrieval item;

The queried drop compensation amount is determined as the first drop compensation amount.

Therefore, in the embodiment of the present invention, the first drop compensation amount is retrieved from the drop compensation amount table by using the machining position of the tool, and the first drop compensation amount can be quickly determined by looking up the table, which improves the processing speed.

In one embodiment, the determining a second drop compensation amount corresponding to the actual rotational speed of the workpiece based on the first drop compensation amount includes:

determining the first ratio of the compensation coefficient to the preset rotation speed setting value of the workpiece; determining the first product of the first ratio and the first drop compensation amount; determining the first product and the actual rotation speed of the workpiece The second product of , and determining the second product as the second drop compensation amount; or

Determine the third product of the preset rotation speed setting value of the workpiece and the cutting depth setting value, determine the second ratio of the compensation coefficient and the third product; determine the fourth product of the second ratio and the actual cutting depth of the workpiece , determine the fifth product of the fourth product and the first drop compensation amount; determine the sixth product of the fifth product and the actual rotation speed of the workpiece, and determine the sixth product as the second Drop compensation amount.

Therefore, in the embodiment of the present invention, a second drop compensation amount for compensating for the drop of the workpiece rotation speed in advance can be determined through a simple calculation based on the first drop compensation amount, thereby improving the processing speed.

In one embodiment, the compensation factor is associated with the material of the workpiece, and the compensation factor is adjustable.

In one embodiment, the establishing a fall compensation scale includes:

When entering the workpiece learning state, within the time period from when the drop value of the actual rotation speed of the workpiece is greater than the predetermined threshold value to when the drop value of the actual rotation speed of the workpiece is not greater than the predetermined threshold value, record multiple tool processing positions and a plurality of workpiece actual rotational speeds corresponding to the plurality of tool machining positions;

Determining a plurality of differences between the preset rotational speed setting value of the workpiece and the actual rotational speed of the plurality of workpieces as a plurality of drop compensation amounts corresponding to the machining positions of the plurality of tools;

The drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts.

It can be seen that the embodiment of the present invention also realizes a method for quickly establishing a drop compensation scale, which lays a foundation for compensating for the drop of the workpiece rotation speed in advance, and is especially suitable for the application of batch processing workpieces.

Compensation device for rotation speed of lathe workpiece, including:

The parameter reading module is used to read the machining position of the tool and the actual rotation speed of the workpiece;

a first drop compensation amount determination module, configured to determine a first drop compensation amount related to the preset rotation speed setting value of the workpiece based on the machining position of the tool;

A second drop compensation amount determination module, configured to determine a second drop compensation amount corresponding to the actual rotational speed of the workpiece based on the first drop compensation amount;

The feedforward compensation module is used for feedforward compensation of the rotation speed of the workpiece based on the second drop compensation amount.

It can be seen that, in the embodiment of the present invention, the drop of the rotation speed of the workpiece is compensated in advance based on the machining position of the tool, so that the machining accuracy can be improved.

In one embodiment, it also includes:

a drop compensation gauge establishment module, used for establishing a drop compensation gauge, the drop compensation gauge including the corresponding relationship between the tool machining position and the drop compensation amount when the preset rotation speed of the workpiece is set;

The first drop compensation amount determination module is configured to determine the tool processing position as a retrieval item, and use the retrieval item to query the drop compensation amount table to determine the drop compensation amount corresponding to the retrieval item; query the The calculated drop compensation amount is determined as the first drop compensation amount.

Therefore, in the embodiment of the present invention, the first drop compensation amount is retrieved from the drop compensation amount table by using the machining position of the tool, and the first drop compensation amount can be quickly determined by looking up the table, which improves the processing speed.

In one embodiment, the second drop compensation amount determination module is configured to determine a first ratio between the compensation coefficient and the preset rotation speed setting value of the workpiece; determine the first ratio and the first drop compensation amount The first product of ; determine the second product of the first product and the actual rotational speed of the workpiece, and determine the second product as the second drop compensation amount; or

Determine the third product of the preset rotation speed setting value of the workpiece and the cutting depth setting value, determine the second ratio of the compensation coefficient and the third product; determine the fourth product of the second ratio and the actual cutting depth of the workpiece , determine the fifth product of the fourth product and the first drop compensation amount; determine the sixth product of the fifth product and the actual rotation speed of the workpiece, and determine the sixth product as the second Drop compensation amount.

Therefore, in the embodiment of the present invention, a second drop compensation amount for compensating for the drop of the workpiece rotation speed in advance can be determined through a simple calculation based on the first drop compensation amount, thereby improving the processing speed.

In one embodiment, the compensation factor is related to the material of the workpiece, and the compensation factor is adjustable.

In one embodiment, the drop compensation scale establishment module is configured to, when entering the workpiece learning state, start from the drop value of the actual rotation speed of the workpiece being greater than a predetermined threshold value to the drop value of the actual rotation speed of the workpiece starting not greater than the predetermined value During the time period of the threshold value, record multiple tool processing positions and multiple workpiece actual rotation speeds corresponding to the multiple tool processing positions; compare the preset rotation speed setting value of the workpiece with the actual rotation speed of the multiple workpieces A plurality of differences in speed are respectively determined as a plurality of drop compensation amounts corresponding to the plurality of tool machining positions; the drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts.

It can be seen that the embodiment of the present invention also realizes a method for quickly establishing a drop compensation scale, which lays a foundation for compensating for the drop of the workpiece rotation speed in advance, and is especially suitable for the application of batch processing workpieces.

Lathe system, including:

a spindle motor for rotating the spindle on which the workpiece is fixed and providing position information of the spindle;

Differentiator, which is used to perform differential operation on the position information of the spindle to provide the actual rotation speed of the workpiece;

a speed controller for controlling the rotation speed of the spindle motor; the speed controller includes a first input end and a second input end, and the first input end is connected to a preset rotation speed setting value of the workpiece;

a speed compensation controller, configured to determine a first drop compensation amount corresponding to the preset rotation speed setting value of the workpiece based on the machining position of the tool, and determine a second drop compensation amount corresponding to the actual rotation speed of the workpiece based on the first drop compensation amount A drop compensation amount, the second drop compensation amount is provided to the second input terminal as a feedforward compensation value.

Therefore, the embodiment of the present invention also realizes the lathe system, which uses the speed compensation controller to compensate for the drop of the rotation speed of the workpiece in advance, which can improve the machining accuracy. Moreover, the feedforward compensation of the embodiment of the present invention can be combined with the classical closed-loop feedback control to realize an overall compensation scheme.

In one embodiment, the speed compensation controller is further configured to establish a drop compensation amount table including the corresponding relationship between the tool machining position and the drop compensation amount when the workpiece predetermined rotation speed is set; wherein the Retrieving the first drop compensation amount related to the preset rotation speed setting value of the workpiece from the tool machining position includes: determining the tool machining position as a retrieval item, and using the retrieval item to query the drop compensation amount table to determine the corresponding drop compensation amount. The drop compensation amount of the retrieval item; the drop compensation amount obtained by the query is determined as the first drop compensation amount.

Therefore, in the embodiment of the present invention, the first drop compensation amount is retrieved from the drop compensation amount table by using the machining position of the tool, and the first drop compensation amount can be quickly determined by looking up the table, which improves the processing speed.

In one embodiment, the speed compensation controller is configured to determine a first ratio between the compensation coefficient and the preset rotation speed setting value of the workpiece; determine a first ratio between the first ratio and the first drop compensation amount product; determine the second product of the first product and the actual rotation speed of the workpiece, and determine the second product as the second drop compensation amount; or, determine the preset rotation speed setting value of the workpiece and the cutting Determine the third product of the depth setting value, determine the second ratio of the compensation coefficient and the third product; determine the fourth product of the second ratio and the actual cutting depth of the workpiece, determine the fourth product and the first product The fifth product of the drop compensation amount; the sixth product of the fifth product and the actual rotation speed of the workpiece is determined, and the sixth product is determined as the second drop compensation amount.

Therefore, in the embodiment of the present invention, a second drop compensation amount for compensating for the drop of the workpiece rotation speed in advance can be determined through a simple calculation based on the first drop compensation amount, thereby improving the processing speed.

In one embodiment, the speed compensation controller is configured to, when entering the workpiece learning state, start from the drop value of the actual rotation speed of the workpiece is greater than a predetermined threshold to the drop value of the actual rotation speed of the workpiece is not greater than the predetermined threshold. In the time period of the value, record multiple tool processing positions and multiple workpiece actual rotation speeds corresponding to the multiple tool processing positions; A plurality of differences are respectively determined as a plurality of drop compensation amounts corresponding to the plurality of tool machining positions; the drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts.

It can be seen that the embodiment of the present invention also realizes a method for quickly establishing a drop compensation scale, which lays a foundation for compensating for the drop of the workpiece rotation speed in advance, and is especially suitable for the application of batch processing workpieces.

A compensation device for the rotation speed of the workpiece of the lathe, including: a processor and a memory;

An application program executable by the processor is stored in the memory for causing the processor to execute the steps of the method for compensating the rotational speed of a workpiece of a lathe as described in any one of the above.

Therefore, the embodiment of the present invention also implements an apparatus for compensating the rotation speed of a workpiece of a lathe based on a processor and a memory architecture, and the processor can execute the steps of a method for compensating the rotation speed of a workpiece of a lathe.

A computer-readable storage medium storing computer-readable instructions for performing the steps of the method for compensating the rotational speed of a workpiece of a lathe as described in any of the above.

Therefore, the embodiments of the present invention also implement a computer-readable storage medium, and the computer-readable instructions stored in the computer-readable storage medium can execute the steps of the method for compensating the rotation speed of the workpiece of the lathe.

Description of drawings

FIG. 1 is an exemplary flowchart of a method for compensating the rotational speed of a workpiece of a lathe according to an embodiment of the present invention.

FIG. 2 is an exemplary flowchart of a method of generating a drop compensation scale according to an embodiment of the present invention.

FIG. 3 is an exemplary structural diagram of a device for compensating the rotational speed of a workpiece of a lathe according to an embodiment of the present invention.

FIG. 4 is an exemplary structural diagram of a lathe system according to an embodiment of the present invention.

FIG. 5 is an exemplary structural diagram of a device for compensating the rotational speed of a workpiece of a lathe according to an embodiment of the present invention.

6 is a schematic diagram of a lathe turning straight threads according to an embodiment of the present invention.

FIG. 7 is a schematic diagram of the drop of the rotational speed of the workpiece in the prior art.

FIG. 8 is a schematic diagram illustrating that the rotational speed of the workpiece remains stable according to an embodiment of the present invention.

Among them, the reference numerals are as follows:

Detailed ways

In order to make the technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to illustrate the present invention, and are not used to limit the protection scope of the present invention.

For the sake of brevity and intuition in description, the solution of the present invention is explained below by describing several representative embodiments. Numerous details in the embodiments are provided only to aid in understanding the aspects of the invention. However, it is obvious that the technical solutions of the present invention may not be limited to these details during implementation. In order to avoid unnecessarily obscuring aspects of the present invention, some embodiments are not described in detail, but merely framed. Hereinafter, "including" means "including but not limited to", and "according to..." means "at least in accordance with, but not limited to, only in accordance with...". Due to Chinese language habits, when the number of a component is not specified below, it means that the component may be one or more, or it may be understood as at least one.

Considering the disadvantage in the prior art that when the tool starts to contact the workpiece on the CNC lathe for processing, the machining accuracy of the workpiece is reduced due to the drop of the spindle rotation speed, the embodiment of the present invention proposes a speed feedforward compensation method. That is, the workpiece rotation speed) performs feedforward compensation, which can compensate for the drop of the workpiece rotation speed in advance, thereby improving the machining accuracy.

FIG. 1 is an exemplary flowchart of a method for compensating the rotational speed of a workpiece of a lathe according to an embodiment of the present invention.

As shown in Figure 1, the method includes:

Step 102: Read the machining position of the tool and the actual rotation speed of the workpiece.

Here, when entering the workpiece processing state, it is necessary to determine the tool processing position and the actual rotation speed of the workpiece. Among them, the machining position of the tool can be read from the feed motor that controls the feed of the tool, and the position information of the spindle can be read from the spindle motor that controls the spindle. The actual rotational speed of the workpiece can be determined by differentiating the position information of the spindle. Preferably, in step 102, the machining position of the tool and the actual rotation speed of the workpiece are read in real time.

Step 104: Determine the first drop compensation amount related to the preset value of the workpiece rotation speed based on the machining position of the tool.

Here, a pre-established drop compensation amount table may be queried to determine the first drop compensation amount related to the preset value of the workpiece rotation speed and corresponding to the tool machining position determined in step 102 . Wherein, the drop compensation amount table includes the corresponding relationship between the tool machining position and the drop compensation amount when the preset rotational speed of the workpiece is set and feedforward compensation is not performed for the rotational speed of the workpiece.

In one embodiment, retrieving the first drop compensation amount related to the preset value of the predetermined rotation speed of the workpiece based on the tool machining position in step 104 specifically includes: determining the tool machining position determined in step 102 as a retrieval item, and using the retrieval item The compensation amount table is queried to determine the drop compensation amount corresponding to the retrieval item; the queried drop compensation amount is determined as the first drop compensation amount.

Table 1 is an exemplary structure of a drop compensation scale. The correspondence between the drop compensation amount and the tool machining position in Table 1 is established when the predetermined rotational speed of the workpiece is a predetermined predetermined rotational speed setting value of the workpiece and no feedforward compensation (preferably, closed-loop feedback control is performed) is performed for the rotational speed of the workpiece relation.

Tool machining position Drop compensation amount B₀ D₀ B₁ D₁ B₂ D₂ … … B_n-1 D_n-1 B_n D_n

Table 1

It can be seen from Table 1 that when the tool machining position is B ₀ , the corresponding drop compensation amount is D ₀ ; when the tool machining position is B ₁ , the corresponding drop compensation amount is D ₁ ; when the tool machining position is B ₂ , the corresponding drop compensation amount is D ₂ ; ... When the tool machining position is B _n , the corresponding drop compensation amount is D _n .

Based on the drop compensation amount table shown in Table 1, the first drop compensation amount related to the preset rotation speed setting value of the workpiece can be retrieved based on the machining position of the tool. For example, when the tool machining position determined in step 102 is B ₀ , the first drop compensation amount can be determined in step 104 as D ₀ ; when the tool machining position determined in step 102 is B ₁ , it can be determined in step 104 In step 104, it is determined that the first drop compensation amount is D ₁ ; when the tool processing position determined in step 102 is B ₂ , it can be determined in step 104 that the drop compensation amount is D ₂ ; ... when it is determined in step 102 When the machining position of the tool is B _n , the drop compensation amount can be determined as D _n in step 104 .

Step 106: Determine a second drop compensation amount corresponding to the actual rotation speed of the workpiece based on the first drop compensation amount.

After the first drop compensation amount is determined in step 104, the first drop compensation amount needs to be converted into a second drop compensation amount corresponding to the actual rotation speed of the workpiece. Here, determining the second drop compensation amount corresponding to the actual rotation speed of the workpiece based on the first drop compensation amount in step 106 includes: determining a first ratio between the compensation coefficient and the preset rotation speed setting value of the workpiece; determining the first ratio and the first The first product of the drop compensation amount; determine the second product of the first product and the actual rotation speed of the workpiece, and determine the second product as the second drop compensation amount; or, determine the preset value of the workpiece rotation speed and the set value of the cutting depth Determine the third product of the compensation coefficient and the third product; determine the fourth product of the second ratio and the actual cutting depth of the workpiece, determine the fifth product of the fourth product and the first drop compensation amount; determine the fifth product The sixth product with the actual rotational speed of the workpiece is determined as the second drop compensation amount.

Specifically, since the input of the drop compensation scale is the compensation data at a certain processing speed (ie, the preset rotation speed setting value of the workpiece), due to the different processing speeds, the actual drop amount is also different, and the cutting force will vary with the workpiece. changes with the material. To accommodate these changes, a compensation coefficient K can be introduced.

For example, the second drop compensation amount can be obtained by the following formula 1:

Dm=(K/F)*D*Fm Formula (1)

Among them: D is the first drop compensation amount, that is, the compensation amount when the preset rotation speed of the workpiece is set to F and there is no feedforward compensation for the rotation speed of the workpiece; K is the compensation coefficient, which is related to the workpiece material, and the default is 100%. It can be adjusted actually; Fm is the actual rotation speed of the workpiece; Dm is the second drop compensation amount, that is, the compensation amount when the actual rotation speed of the workpiece is Fm.

In formula (1), the ratio of the compensation coefficient to the set value of the predetermined rotation speed of the workpiece is (K/F), which can be called the first ratio; the product of the first ratio (ie (K/F)) and D , namely ((K/F)*D), which can be called the first product; the product of the first product ((K/F)*D) and the actual rotation speed of the workpiece Fm, namely (K/F)*D*Fm , which can be called the second product. The second product is the second drop compensation amount.

For another example, the second drop compensation amount can be obtained by the following formula 2:

Dm=[K/(F*L)]*Lm*D*Fm Formula (2)

Among them: D is the first drop compensation amount, that is, the preset rotation speed of the workpiece is set to F and the cutting depth is set to L and the compensation amount without feedforward compensation; K is the compensation coefficient, which is related to the workpiece material, and the default is 100%, the user can actually adjust; Lm is the actual cutting depth of the workpiece; Fm is the actual rotation speed of the workpiece; Dm is the second drop compensation amount, that is, the compensation amount when the actual rotation speed of the workpiece is Fm.

In formula (2), the product of the preset rotation speed setting value of the workpiece and the cutting depth setting value is (F*L), which can be called the third product; the ratio of the compensation coefficient to the third product is K/(F* L), can be called the second ratio; the product of the second ratio and the actual cutting depth of the workpiece is [K/(F*L)]*Lm, which can be called the fourth product; the fourth product and the first drop compensation amount The product is [K/(F*L)]*Lm*D, which can be called the fifth product; the product of the fifth product and the actual rotation speed of the workpiece is [K/(F*L)]*Lm*D*Fm, It may be called a sixth product, and the sixth product is determined as the second drop compensation amount.

The above exemplarily describes a typical implementation for determining the second drop compensation amount, and those skilled in the art can realize that this description is only an example, and is not used to limit the protection scope of the implementation of the present invention.

Step 108: Feedforward compensation for the rotational speed of the workpiece based on the second drop compensation amount.

Here, the second drop compensation amount determined in step 106 is the additional speed setting value output to the spindle motor, and the second drop compensation amount is fed forward to the speed controller for controlling the spindle motor to compensate the tool contacting the workpiece in advance After the drop of the actual rotational speed of the workpiece. Among them, it is preferable to further execute closed-loop negative feedback control for the rotational speed of the spindle motor in the speed controller.

In addition, an embodiment of the present invention also provides a method for generating a drop compensation scale. Based on the above description, FIG. 2 is an exemplary flowchart of a method for generating a drop compensation scale according to an embodiment of the present invention. Among them, the test workpiece used in generating the drop compensation scale has the same specification and shape as the machining workpiece used in FIG. 1 , and the same machining process is performed on the same machine tool.

As shown in Figure 2, the method includes:

Step 202: When entering the workpiece learning state, record multiple tool processing positions within the time period from the drop value of the actual rotation speed of the workpiece is greater than the predetermined threshold value to the drop value of the actual rotation speed of the workpiece is not greater than the predetermined threshold value. and the actual rotational speeds of multiple workpieces corresponding to multiple tool machining positions.

Here, the test workpiece used to generate the drop compensation scale is fixed on a spindle motor that has a predetermined workpiece predetermined rotational speed setpoint and performs classic closed-loop feedback control for the workpiece predetermined rotational speed. When the tool starts to contact the test workpiece, the actual rotation speed of the workpiece will drop, that is, it will start to drop from the preset rotation speed setting value of the workpiece. When the drop value of the actual rotation speed of the workpiece begins to be greater than the predetermined threshold value, it can be determined that the tool begins to contact the test workpiece and enters the drop period; when the drop value of the actual rotation speed of the workpiece begins to be less than the predetermined threshold value, it can be determined that The drop period ends. Within the drop period, a plurality of tool machining positions and a plurality of workpiece actual rotational speeds corresponding to the plurality of tool machining positions are recorded.

Step 202 : Determine a plurality of differences between the preset rotation speed setting value of the workpiece and the actual rotation speeds of the workpieces as a plurality of drop compensation amounts corresponding to the machining positions of the plurality of tools, respectively.

Step 203: Establish a drop compensation scale based on multiple tool machining positions and multiple drop compensation amounts.

Based on the above process, the actual position B and actual speed C of the test workpiece can be collected in real time. When the actual speed C drops significantly (indicating that the tool starts to contact the test workpiece), the actual position B and the actual speed C are recorded at the same time until the actual speed. C essentially reverts to the actual speed before the drop to stop collecting and recording the actual position B and the actual speed C. Wherein, for the actual position B and the actual speed C, a plurality of data pairs (B ₀ , C ₀ ), (B ₁ , C ₁ ), (B ₂ , C ₂ ) . . . (B _n , C _n ) can be recorded. Also, all or a predetermined number of data pairs are fetched from the recorded data pairs (B ₀ , C ₀ ), (B ₁ , C ₁ ), (B ₂ , C ₂ )...(B _n , C _n ), according to the following Equation 3 calculates the amount of compensation data D for each data pair to compensate for the drop in actual speed.

D=F-C Formula (3)

Among them: D is the compensation amount filled in the drop compensation scale; F is the preset rotation speed setting value of the workpiece; C is the actual speed when the speed drops.

For example, for the data pair (B ₀ , C ₀ ), D ₀ =FC ₀ is calculated. Among them, D ₀ and B ₀ can be filled in the drop compensation scale as a corresponding relationship pair. That is, a new entry (B ₀ , D ₀ ) is added to the drop compensation amount table. For another example, for the data pair (B ₁ , C ₁ ), D ₁ =FC ₁ is calculated. Among them, D ₁ and B ₁ can be filled in the drop compensation scale as a corresponding relationship pair. That is, a new entry (B ₁ , D ₁ ) is added to the drop compensation amount table. By analogy, the actual positions of all data pairs and their compensation amounts can be filled in the drop compensation scale.

Optionally, the drop compensation scale can also be manually input. In manual input, the compensation amount, actual position and preset rotation speed of the workpiece can be input according to the actual processing workpiece and the experience of the craftsman.

The above exemplary description describes an exemplary process for establishing a drop compensation scale, and those skilled in the art can realize that this description is only exemplary, and is not intended to limit the protection scope of the embodiments of the present invention.

In the embodiment of the present invention, the processing performed by the lathe on the workpiece may be any required tool and workpiece, such as threading processing, grooving processing, drilling processing, hole reaming processing, reaming processing, and boring processing. Contact processing process. Likewise, the above exemplarily describes an exemplary process of the machining process performed by the lathe on the workpiece, and those skilled in the art can realize that this description is only exemplary, and is not intended to limit the protection scope of the embodiments of the present invention.

When the process shown in Figure 1 is applied to the drop compensation scale established based on Figure 2, the machining position of the tool and the actual rotation speed of the workpiece are determined at the first contact point between the tool and the workpiece, and the first contact is found in the drop compensation scale. The first drop compensation amount at the first contact point is determined, and the actual drop compensation amount (ie the second drop compensation amount) at the position of the first contact point is determined based on the actual rotation speed of the workpiece at the first contact point, and the second drop compensation is provided to the spindle motor. The amount feedforward compensates for the rotational speed of the workpiece. Moreover, with the continuous feeding of the tool, the first drop compensation amount corresponding to the changing tool machining position is continuously searched in the drop compensation amount table, and based on the continuously changing first drop compensation amount and the changing actual rotation speed of the workpiece The second drop compensation amount of the subsequent contact point is continuously determined, and the second drop compensation amount is continuously provided to the spindle motor to continuously feed forward the rotation speed of the workpiece. When the first drop compensation amount cannot be found in the drop compensation amount table based on the machining position of the tool, the feedforward compensation is stopped.

Based on the above description, an embodiment of the present invention also provides a device for compensating the rotation speed of a workpiece of a lathe.

FIG. 3 is an exemplary structural diagram of a device for compensating the rotational speed of a workpiece of a lathe according to an embodiment of the present invention.

As shown in FIG. 3, the compensation device 300 includes:

The parameter reading module 301 is used to read the machining position of the tool and the actual rotation speed of the workpiece;

a first drop compensation amount determination module 302, configured to determine the first drop compensation amount related to the preset value of the workpiece rotation speed based on the machining position of the tool;

A second drop compensation amount determination module 303, configured to determine a second drop compensation amount corresponding to the actual rotational speed of the workpiece based on the first drop compensation amount;

The feedforward compensation module 304 is used for feedforward compensation of the rotation speed of the workpiece based on the second drop compensation amount.

In one embodiment, the compensation device 300 further includes:

The drop compensation scale establishment module 305 is used to establish a drop compensation scale, and the drop compensation scale includes the corresponding relationship between the tool machining position and the drop compensation amount when the preset rotation speed of the workpiece is set;

The first drop compensation amount determination module 302 is used to determine the tool machining position as the retrieval item, and use the retrieval item to query the compensation scale to determine the drop compensation amount corresponding to the retrieval item; determine the queried drop compensation amount as the first drop amount of compensation.

In one embodiment, the second drop compensation amount determination module 303 is configured to determine the first ratio of the compensation coefficient to the preset rotational speed setting value of the workpiece; to determine the first product of the first ratio and the first drop compensation amount; to determine the first The second product of a product and the actual rotation speed of the workpiece, and the second product is determined as the second drop compensation amount; or, the third product of the preset rotation speed setting value of the workpiece and the cutting depth setting value is determined, and the compensation coefficient and the first The second ratio of the three products; determine the fourth product of the second ratio and the actual cutting depth of the workpiece, determine the fifth product of the fourth product and the first drop compensation amount; determine the fifth product and the sixth product of the actual rotation speed of the workpiece, The sixth product is determined as the second drop compensation amount. Preferably, the compensation coefficient is related to the material of the workpiece, and the compensation coefficient is adjustable.

In one embodiment, the drop compensation scale establishment module 305 is configured to, when entering the workpiece learning state, start from the drop value of the actual rotation speed of the workpiece being greater than the predetermined threshold value to the drop value of the actual rotation speed of the workpiece starting not greater than the predetermined threshold During the limited time period, record multiple tool processing positions and multiple workpiece actual rotation speeds corresponding to multiple tool processing positions; It is determined as a plurality of drop compensation amounts corresponding to the plurality of tool machining positions; a drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts.

The embodiment of the present invention also proposes a compensation system for the rotational speed of the workpiece of the lathe.

FIG. 4 is an exemplary structural diagram of a lathe system according to an embodiment of the present invention.

The lathe system 400 includes:

The spindle motor 405 is used to rotate the spindle fixed with the workpiece and provide the position information of the spindle;

a differentiator 402, configured to perform a differential operation on the position information of the main shaft to provide the actual rotation speed of the workpiece;

The speed controller 403 is used to control the rotation speed of the spindle motor 405; the speed controller 403 includes a first input end S1 and a second input end S2, wherein the first input end S1 is connected to the preset rotational speed setting value of the workpiece;

The speed compensation controller 401 is configured to determine a first drop compensation amount corresponding to the preset rotation speed setting value of the workpiece based on the machining position of the tool, determine a second drop compensation amount corresponding to the actual rotation speed of the workpiece based on the first drop compensation amount, and set the The second drop compensation amount is provided to the second input terminal S2 of the speed controller 403 as a feedforward compensation value.

Preferably, a current controller 404 is further arranged between the speed controller 403 and the spindle motor 405 . The current controller 404 receives the spindle motor rotation speed control value determined by the speed controller 403 from the speed controller 403 and controls the current output to the spindle motor 405 based on the spindle motor rotation speed control value. Furthermore, the current controller 404 also provides the actual current value as the feedback value of the current closed-loop control. In addition, the actual rotation speed of the workpiece provided by the differentiator 402 can also be provided to the third input terminal S3 of the speed controller 403 as a feedback value for the closed-loop control of the rotation speed of the workpiece, that is, the current controller 404 converts the output of the first input terminal S1 ( The preset rotation speed setting value of the workpiece) is summed with the output (feedforward compensation value) of the second input terminal S2, and the summation result is subtracted from the output (feedback value) of the first input terminal S3 as the spindle motor rotation speed control value.

In one embodiment, the speed compensation controller 401 is further configured to establish a drop compensation amount table including the corresponding relationship between the tool machining position and the drop compensation amount when the workpiece predetermined rotation speed is set; wherein the retrieval is based on the tool machining position Determining the first drop compensation amount related to the preset rotation speed setting value of the workpiece includes: determining the machining position of the tool as a retrieval item, and using the retrieval item to query the compensation amount table to determine the first drop compensation amount.

In one embodiment, the speed compensation controller 401 is configured to determine a first ratio between the compensation coefficient and the preset rotation speed setting value of the workpiece; determine the first product of the first ratio and the first drop compensation amount; determine the first product and The second product of the actual rotation speed of the workpiece, and the second product is determined as the second drop compensation amount; or, the third product of the preset rotation speed setting value of the workpiece and the cutting depth setting value is determined, and the compensation coefficient and the third product are determined. The second ratio; determine the fourth product of the second ratio and the actual cutting depth of the workpiece, and determine the fifth product of the fourth product and the first drop compensation amount; determine the sixth product of the fifth product and the actual rotation speed of the workpiece, and the sixth product The product is determined as the second drop compensation amount.

In one embodiment, the speed compensation controller 401 is configured to, when entering the workpiece learning state, start from the drop value of the actual rotation speed of the workpiece being greater than the predetermined threshold value to the drop value of the actual rotation speed of the workpiece starting not greater than the predetermined threshold value During the period of time, record multiple tool processing positions and multiple workpiece actual rotation speeds corresponding to multiple tool processing positions; multiple differences between the preset rotation speed setting value of the workpiece and the actual rotation speeds of multiple workpieces are determined as A plurality of drop compensation amounts corresponding to the plurality of tool machining positions; a drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts.

Based on the above description, an embodiment of the present invention further provides a device for compensating the rotation speed of a workpiece of a lathe based on a processor and a memory architecture.

FIG. 5 is an exemplary structural diagram of a device for compensating the rotational speed of a workpiece of a lathe according to an embodiment of the present invention.

As shown in FIG. 5 , the device 500 for compensating the rotation speed of the workpiece of the lathe includes: a processor 501 and a memory 502;

An application program executable by the processor 501 is stored in the memory 502 for causing the processor 501 to execute the steps of the method for compensating the rotational speed of a workpiece of a lathe as described above.

The embodiments of the present invention are described below by taking a specific production process performed by a lathe as an example.

6 is a schematic diagram of straight thread turning using a lathe according to an embodiment of the present invention.

In Figure 6, a chuck 602 holds a workpiece 600 on a spindle 603 of a lathe. The thread cutter 601 is continuously fed on the workpiece 600 according to a predetermined direction T parallel to the Z axis. The position coordinates of the first contact point between the thread cutter 601 and the workpiece 600 are (X0, Z0).

FIG. 7 is a schematic diagram of the drop of the rotational speed of the workpiece in the prior art.

In Fig. 7, the abscissa is time, and the ordinate is the rotational speed of the workpiece. It can be seen that at the first contact point (X0, Z0), the rotational speed of the workpiece 600 drops. Then, due to the closed-loop feedback control of the workpiece rotation speed, the workpiece rotation speed can be recovered. However, during the drop period of the workpiece rotation speed, the machining accuracy of the workpiece decreases.

FIG. 8 is a schematic diagram illustrating that the rotational speed of the workpiece remains stable according to an embodiment of the present invention.

In FIG. 8, the abscissa is time, and the ordinate is the rotational speed of the workpiece. At the first contact point (X0, Z0), the tool machining position in the Z direction is determined as Z0, and the first drop compensation amount corresponding to the tool machining position (ie Z0) in the Z direction is found in the drop compensation amount table, And based on the actual rotation speed of the workpiece at the contact point (X0, Z0), the actual drop compensation amount (ie the second drop compensation amount) at the contact point (X0, Z0) position is determined, and the second drop compensation amount is provided to the spindle motor. Feedforward compensation for the rotational speed of the workpiece. Moreover, with the feed of the tool, the first drop compensation amount corresponding to the machining position of the tool changed in the Z direction is continuously searched in the drop compensation amount table, and based on the changed first drop compensation amount and the changed actual rotation of the workpiece The speed continues to determine the second drop compensation amount for the subsequent contact point, and the second drop compensation amount is continuously provided to the spindle motor to feed forward the rotation speed of the workpiece. When the first drop compensation amount cannot be found in the drop compensation amount table based on the machining position of the tool in the Z direction, the feedforward compensation is stopped.

It can be seen from FIG. 8 that since the rotation speed of the workpiece has been compensated by feedforward in advance, the rotation speed of the workpiece does not drop during the entire processing process, so the machining accuracy of the workpiece is improved.

It should be noted that not all steps and modules in the above-mentioned processes and structural diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of each step is not fixed and can be adjusted as required. The division of each module is only to facilitate the description of the functional division used. In actual implementation, a module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module. These modules can be located in the same device. , or in a different device.

The hardware modules in various embodiments may be implemented mechanically or electronically. For example, a hardware module may include specially designed permanent circuits or logic devices (eg, special purpose processors, such as FPGAs or ASICs) for performing specific operations. Hardware modules may also include programmable logic devices or circuits (eg, including general-purpose processors or other programmable processors) temporarily configured by software for performing particular operations. As for the specific use of a mechanical method, or a dedicated permanent circuit, or a temporarily configured circuit (for example, configured by software) to realize the hardware module, it can be decided according to cost and time considerations.

The present invention also provides a machine-readable storage medium storing instructions for causing a machine to perform a method as described herein. Specifically, it is possible to provide a system or device equipped with a storage medium on which software program codes for realizing the functions of any one of the above-described embodiments are stored, and make the computer (or CPU or MPU of the system or device) ) to read and execute the program code stored in the storage medium. In addition, a part or all of the actual operation can also be completed by an operating system or the like operating on the computer based on the instructions of the program code. The program code read from the storage medium can also be written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion unit connected to the computer, and then the instructions based on the program code make the device installed in the computer. The CPU on the expansion board or the expansion unit or the like performs part and all of the actual operations, so as to realize the functions of any one of the above-mentioned embodiments.

Embodiments of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (eg, CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), Magnetic tapes, non-volatile memory cards and ROMs. Alternatively, the program code may be downloaded from a server computer over a communications network.

The above descriptions are merely preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (16)

1. the compensation method of the rotational speed of the lathe workpiece, is characterized in that, comprises: Read the machining position of the tool and the actual rotation speed of the workpiece (102); determining a first drop compensation amount associated with a predetermined workpiece rotational speed setting based on the tool machining position (104); determining a second drop compensation amount corresponding to the actual rotational speed of the workpiece based on the first drop compensation amount (106); The rotational speed of the workpiece is feedforward compensated based on the second drop compensation amount (108). 2 . The method for compensating the rotational speed of a workpiece of a lathe according to claim 1 , wherein the method further comprises: establishing a drop compensation scale, the drop compensation scale including the tool when the predetermined rotational speed of the workpiece is set at a set value. 3 . Correspondence between processing position and drop compensation amount; The determining of the first drop compensation amount (104) related to the predetermined rotation speed setting value of the workpiece based on the tool machining position includes: Determining the tool processing position as a retrieval item, and querying the drop compensation amount table by using the retrieval item to determine the drop compensation amount corresponding to the retrieval item; The queried drop compensation amount is determined as the first drop compensation amount. 3. The method for compensating the rotational speed of a workpiece of a lathe according to claim 1, wherein the determining a second drop compensation amount (106) corresponding to the actual rotational speed of the workpiece based on the first drop compensation amount comprises: : determining the first ratio of the compensation coefficient to the preset rotation speed setting value of the workpiece; determining the first product of the first ratio and the first drop compensation amount; determining the first product and the actual rotation speed of the workpiece The second product of , and determining the second product as the second drop compensation amount; or Determine the third product of the preset rotation speed setting value of the workpiece and the cutting depth setting value, determine the second ratio of the compensation coefficient and the third product; determine the fourth product of the second ratio and the actual cutting depth of the workpiece , determine the fifth product of the fourth product and the first drop compensation amount; determine the sixth product of the fifth product and the actual rotation speed of the workpiece, and determine the sixth product as the second Drop compensation amount. 4 . The method for compensating the rotation speed of a workpiece of a lathe according to claim 3 , wherein the compensation coefficient is associated with the material of the workpiece, and the compensation coefficient is adjustable. 5 . 5. The compensation method for the rotational speed of a lathe workpiece according to claim 2, wherein the establishing a drop compensation scale comprises: When entering the workpiece learning state, within the time period from when the drop value of the actual rotation speed of the workpiece is greater than the predetermined threshold value to when the drop value of the actual rotation speed of the workpiece is not greater than the predetermined threshold value, record multiple tool processing positions and a plurality of workpiece actual rotational speeds corresponding to the plurality of tool machining positions (202); Determine a plurality of differences between the preset rotation speed setting value of the workpiece and the actual rotation speed of the plurality of workpieces as a plurality of drop compensation amounts corresponding to the machining positions of the plurality of tools (204); The drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts (206). 6. A compensation device (300) for the rotational speed of a lathe workpiece, characterized in that it comprises: The parameter reading module (301) is used to read the machining position of the tool and the actual rotation speed of the workpiece; a first drop compensation amount determination module (302), configured to determine a first drop compensation amount related to a preset rotation speed setting value of the workpiece based on the tool machining position; A second drop compensation amount determination module (303), configured to determine a second drop compensation amount corresponding to the actual rotational speed of the workpiece based on the first drop compensation amount; A feedforward compensation module (304) for feedforward compensation of the rotation speed of the workpiece based on the second drop compensation amount. 7. The device (300) for compensating the rotational speed of the workpiece of a lathe according to claim 6, further comprising: a drop compensation scale establishment module (305), used for establishing a drop compensation scale, the drop compensation scale including the corresponding relationship between the tool machining position and the drop compensation amount when the workpiece predetermined rotation speed setting value; The first drop compensation amount determination module (302) is configured to determine the tool machining position as a retrieval item, and use the retrieval item to query the drop compensation amount table to determine the drop compensation amount corresponding to the retrieval item ; Determining the queried drop compensation amount as the first drop compensation amount. 8. The device (300) for compensating the rotational speed of the workpiece of a lathe according to claim 7, characterized in that, The second drop compensation amount determination module (303) is configured to determine a first ratio between the compensation coefficient and the preset rotation speed setting value of the workpiece; determine a first ratio between the first ratio and the first drop compensation amount product; determining the second product of the first product and the actual rotational speed of the workpiece, and determining the second product as the second drop compensation amount; or Determine the third product of the preset rotation speed setting value of the workpiece and the cutting depth setting value, determine the second ratio of the compensation coefficient and the third product; determine the fourth product of the second ratio and the actual cutting depth of the workpiece , determine the fifth product of the fourth product and the first drop compensation amount; determine the sixth product of the fifth product and the actual rotation speed of the workpiece, and determine the sixth product as the second Drop compensation amount. 9. The device (300) for compensating the rotational speed of a lathe workpiece according to claim 8, characterized in that, The compensation coefficient is related to the material of the workpiece, and the compensation coefficient is adjustable. 10. The device (300) for compensating the rotational speed of a workpiece of a lathe according to claim 8, characterized in that: The drop compensation scale establishment module (305) is used to, when entering the workpiece learning state, start from the drop value of the actual rotational speed of the workpiece being greater than the predetermined threshold value to the drop value of the actual rotational speed of the workpiece starting not greater than the predetermined threshold value During the time period, record multiple tool processing positions and multiple workpiece actual rotation speeds corresponding to the multiple tool processing positions; The differences are respectively determined as a plurality of drop compensation amounts corresponding to the plurality of tool machining positions; the drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts. 11. A lathe system (400), characterized in that, comprising: a spindle motor (405) for rotating the spindle on which the workpiece is fixed, and providing position information of the spindle; a differentiator (402) for performing a differential operation on the position information of the main shaft to provide the actual rotation speed of the workpiece; A speed controller (403) for controlling the rotation speed of the spindle motor (405); the speed controller (403) includes a first input end and a second input end, the first input end is connected to a predetermined rotation of the workpiece speed setting value; A speed compensation controller (401), configured to determine a first drop compensation amount corresponding to the preset rotation speed setting value of the workpiece based on the tool machining position, and determine the actual rotation speed of the workpiece based on the first drop compensation amount The second drop compensation amount is provided to the second input terminal as a feedforward compensation value. 12. The lathe system (400) according to claim 11, wherein the speed compensation controller (401) is further configured to establish the tool machining position and drop compensation included in the preset value of the workpiece rotation speed A drop compensation scale with corresponding relationship between quantities; wherein the retrieval of the first drop compensation amount related to the preset value of the workpiece rotation speed based on the tool machining position includes: determining the tool machining position as a retrieval item, The drop compensation amount table is queried by the retrieval item to determine the drop compensation amount corresponding to the retrieval item; the drop compensation amount obtained by the query is determined as the first drop compensation amount. 13. The lathe system (400) according to claim 11, wherein the speed compensation controller (401) is configured to determine the first ratio of the compensation coefficient to the preset rotation speed setting value of the workpiece; determine The first product of the first ratio and the first drop compensation amount; the second product of the first product and the actual rotation speed of the workpiece is determined, and the second product is determined as the second drop compensation amount; or Determine the third product of the preset rotation speed setting value of the workpiece and the cutting depth setting value, determine the second ratio of the compensation coefficient and the third product; determine the fourth product of the second ratio and the actual cutting depth of the workpiece , determine the fifth product of the fourth product and the first drop compensation amount; determine the sixth product of the fifth product and the actual rotation speed of the workpiece, and determine the sixth product as the second Drop compensation amount. 14. The lathe system (400) of claim 12, wherein The speed compensation controller (401) is used for, when entering the workpiece learning state, from the time when the drop value of the actual rotation speed of the workpiece is greater than the predetermined threshold value to the time when the drop value of the actual rotation speed of the workpiece is not greater than the predetermined threshold value In the segment, multiple tool processing positions and multiple workpiece actual rotation speeds corresponding to the multiple tool processing positions are recorded; multiple differences between the preset rotation speed setting value of the workpiece and the multiple workpiece actual rotation speeds are are respectively determined as a plurality of drop compensation amounts corresponding to the plurality of tool machining positions; the drop compensation amount table is established based on the plurality of tool machining positions and the plurality of drop compensation amounts. 15. A device (500) for compensating the rotational speed of a workpiece of a lathe, characterized by comprising: a processor (501) and a memory (502); An application program executable by the processor (501) is stored in the memory (502) for causing the processor (501) to perform the lathe workpiece rotation according to any one of claims 1 to 5 The steps of the speed compensation method. 16. A computer-readable storage medium, wherein a computer-readable instruction is stored therein, and the computer-readable instruction is used to execute the steps of the method for compensating the rotational speed of a lathe workpiece according to any one of claims 1 to 5. .

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